Visual Prompt Guided Unified Pushing Policy
Bui, H.*, Gao, Z.*, Hosoda, Y., & Lee, J. (2026). Visual Prompt Guided Unified Pushing Policy. arXiv preprint arXiv:2602.19193. (* Equal contribution, co-corresponding authors)
CV
Personal Information
Name: Ziyan Gao
Gender: Male
Nationality: China
Email: gziyan1237@gmail.com
Address: 1-1, Asahidai, Nomi City, Ishikawa, Japan
Education
2012.9 – 2016.6
B.S. in Mechanical Engineering, Qingdao University of Science and Technology, Qingdao city, Shandong, China. (Graduated)
Thesis title: Structural Design and Kinematic Analysis of a Four-Degree-of-Freedom Robotic Arm
2016.10 – 2019.3
M.S. in Information Science, Japan Advanced Institute of Science and Technology, Nomi city, Ishikawa, Japan. (Graduated)
Thesis title: Efficient Robot Grasp Learning by Demonstration
2019.4 – 2022.9
Ph.D. in Information Science, Japan Advanced Institute of Science and Technology, Nomi city, Ishikawa, Japan. (Graduated)
Thesis title: A Few-Shot Learning Approach To Controlled Planar Pushing Of Novel Objects On Unknown Frictional Surfaces
Occupation & Experience
2025/12/1 – present
Research Assistant Professor
School of Information Science, Japan Advanced Institute of Science and Technology
2025/4/1 – 2025/11/30
Senior Researcher
School of Information Science & Engineering, Ritsumeikan University
2022/10/1 – 2025/3/31
Post-Doctoral Researcher
School of Information Science, Japan Advanced Institute of Science and Technology
Specialized Research Fields
Non-prehensile Manipulation
- Analytical and data-driven analysis of the under-actuated pusher-slider system
Object Physical Parameter Estimation
- Estimation of physical parameters for novel objects based on robot-object interaction
Data-driven Robotic Grasping
- Deep neural network training based on large-scale simulation data for robotic grasping
Robotic Bin Packing
- Heuristic integrated effective online bin packing using deep reinforcement learning
Professional Affiliations & Service
Associate Editor
- The 21st International Conference on Ubiquitous Robots (UR 2024), New York, USA
Reviewer
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
- The IEEE Transactions on Automation Science and Engineering (T-ASE)
- The IEEE Transactions on Robotics (T-RO)
- Advanced Robotics
Awards & Recognition
Best Paper Award
The paper entitled “A few-shot learning framework for planar pushing of unknown objects.” won the best paper award from Intelligent Service Robotics (ISR) and was presented at the 20th International Conference on Ubiquitous Robots, New York, USA / June 25 - 28, 2023.
Teaching Experience
Teaching Assistant (2023 – 2024)
Japan Advanced Institute of Science and Technology (Tokyo Campus)
During the 2023 Term 2-2 and 2024 academic terms, I served as a teaching assistant for a robotics class led by Professor Nak Young Chong. My responsibilities included:
- Helping students grasp fundamental simulation concepts using CoppeliaSim
- Guiding students on writing effective code and completing term projects
- Providing comprehensive introduction to CoppeliaSim and its frequently utilized functionalities
- Using simple diagrams to clarify challenging concepts (e.g., “object handles”)
- Demonstrating implementation of key algorithms in CoppeliaSim to reinforce essential concepts
- Presenting various sample projects to illustrate the term project completion process
Teaching Philosophy: I emphasize simplifying concepts by avoiding unnecessary complex terminology. For intricate algorithms, I provide well-commented code examples to enhance student comprehension and facilitate learning.
Publications
Shortcut-enhanced Multimodal Backdoor Attack in Vision-guided Robot Grasping
Li, C., Gao, Z., & Chong, N. Y. (2025). Shortcut-enhanced Multimodal Backdoor Attack in Vision-guided Robot Grasping. IEEE Transactions on Automation Science and Engineering.
Online 3D Bin Packing with Fast Stability Validation and Stable Rearrangement Planning
Gao, Z., Wang, L., Kong, Y., & Chong, N. Y. (2025). Online 3D Bin Packing with Fast Stability Validation and Stable Rearrangement Planning. Robotics and Computer-Integrated Manufacturing (Under Review).
Berp: A blind estimator of room parameters for single-channel noisy speech signals
Wang, L., Lu, Y., Gao, Z., Li, K., Huang, J., Kong, Y., & Okada, S. (2025). Berp: A blind estimator of room parameters for single-channel noisy speech signals. IEEE Transactions on Audio, Speech and Language Processing.
Predicting hemodynamic parameters based on arterial blood pressure waveform using self-supervised learning and fine-tuning
Liao, K., Elibol, A., Gao, Z., Meng, L., & Chong, N. Y. (2025). Predicting hemodynamic parameters based on arterial blood pressure waveform using self-supervised learning and fine-tuning. Applied Intelligence, 55(7), 481.
Hierarchical Motion Field Alignment for Robust Optical Flow Estimation
Ma, D., Imamura, K., Gao, Z., Wang, X., & Yamane, S. (2025). Hierarchical Motion Field Alignment for Robust Optical Flow Estimation. Sensors, 25(9), 2653.
On the generality and application of mason’s voting theorem to center of mass estimation for pure translational motion
Gao, Z., Elibol, A., & Chong, N. Y. (2024). On the generality and application of mason's voting theorem to center of mass estimation for pure translational motion. IEEE Transactions on Robotics, 40, 2656-2671.
Zero moment two edge pushing of novel objects with center of mass estimation
Gao, Z., Elibol, A., & Chong, N. Y. (2022). Zero moment two edge pushing of novel objects with center of mass estimation. IEEE Transactions on Automation Science and Engineering, 20(3), 1487-1499.
A few-shot learning framework for planar pushing of unknown objects
Gao, Z., Elibol, A., & Chong, N. Y. (2022). A few-shot learning framework for planar pushing of unknown objects. Intelligent Service Robotics, 15(3), 335-350.
Skills
Programming Languages & Tools
- Python, MATLAB, C++
- CoppeliaSim, ROS (Robot Operating System)
- TensorFlow, PyTorch
Research Methods
- Deep Learning & Neural Networks
- Reinforcement Learning
- Computer Vision
- Motion Planning & Control
Languages
- Chinese (Native)
- English (Fluent)
- Japanese (Daily Communication)
Service and Leadership
- Associate Editor for the 21st International Conference on Ubiquitous Robots (UR 2024)
- Regular Reviewer for IEEE T-ASE, IEEE T-RO, IROS, and Advanced Robotics journals
- Teaching Assistant for advanced robotics courses at JAIST